We also applied our cycle loss method to the official open-source implementation of Autobots [1]}, which is a transformer-based motion prediction model. We used the single agent prediction version of the model (Autobots-Ego) since it has better performance on the Argoverse dataset. Same as the GOHOME-Mod + CL model, we added the cycle loss as an additional loss term in addition to its original forward losses.
We refer to the model with cycle consistency loss as Autobots + CL.
